EditConstraintDialog.cpp
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1 /*
2 Copyright (c) 2010-2019, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
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27 
28 #include "rtabmap/gui/EditConstraintDialog.h"
29 #include "ui_editConstraintDialog.h"
30 
31 #include <rtabmap/utilite/ULogger.h>
32 #include <iostream>
33 
34 #ifndef M_PI
35 #define M_PI 3.14159265358979323846
36 #endif
37 
38 namespace rtabmap {
39 
40 EditConstraintDialog::EditConstraintDialog(const Transform & constraint, const cv::Mat & covariance, QWidget * parent) :
41  QDialog(parent)
42 {
43  _ui = new Ui_EditConstraintDialog();
44  _ui->setupUi(this);
45 
46  float x,y,z,roll,pitch,yaw;
47  constraint.getTranslationAndEulerAngles(x, y, z, roll, pitch, yaw);
48  _ui->x->setValue(x);
49  _ui->y->setValue(y);
50  _ui->z->setValue(z);
51  _ui->roll->setValue(roll);
52  _ui->pitch->setValue(pitch);
53  _ui->yaw->setValue(yaw);
54 
55  UASSERT(covariance.empty() || (covariance.cols == 6 && covariance.rows == 6 && covariance.type() == CV_64FC1));
56 
57  _ui->checkBox_radians->setChecked(true);
58  _ui->linear_sigma_x->setValue(covariance.empty() || covariance.at<double>(0,0)>=9999 || covariance.at<double>(0,0)<=0?0:sqrt(covariance.at<double>(0,0)));
59  _ui->linear_sigma_y->setValue(covariance.empty() || covariance.at<double>(1,1)>=9999 || covariance.at<double>(1,1)<=0?0:sqrt(covariance.at<double>(1,1)));
60  _ui->linear_sigma_z->setValue(covariance.empty() || covariance.at<double>(2,2)>=9999 || covariance.at<double>(2,2)<=0?0:sqrt(covariance.at<double>(2,2)));
61  _ui->angular_sigma_roll->setValue(covariance.empty() || covariance.at<double>(3,3)>=9999 || covariance.at<double>(3,3)<=0?0:sqrt(covariance.at<double>(3,3)));
62  _ui->angular_sigma_pitch->setValue(covariance.empty() || covariance.at<double>(4,4)>=9999 || covariance.at<double>(4,4)<=0?0:sqrt(covariance.at<double>(4,4)));
63  _ui->angular_sigma_yaw->setValue(covariance.empty() || covariance.at<double>(5,5)>=9999 || covariance.at<double>(5,5)<=0?0:sqrt(covariance.at<double>(5,5)));
64 
65  connect(_ui->checkBox_radians, SIGNAL(stateChanged(int)), this, SLOT(switchUnits()));
66 }
67 
68 EditConstraintDialog::~EditConstraintDialog()
69 {
70  delete _ui;
71 }
72 
73 void EditConstraintDialog::setPoseGroupVisible(bool visible)
74 {
75  _ui->groupBox_pose->setVisible(visible);
76 }
77 void EditConstraintDialog::setCovarianceGroupVisible(bool visible)
78 {
79  _ui->groupBox_covariance->setVisible(visible);
80 }
81 
82 void EditConstraintDialog::switchUnits()
83 {
84  double conversion = 180.0/M_PI;
85  if(_ui->checkBox_radians->isChecked())
86  {
87  conversion = M_PI/180.0;
88  }
89  QVector<QDoubleSpinBox*> boxes;
90  boxes.push_back(_ui->roll);
91  boxes.push_back(_ui->pitch);
92  boxes.push_back(_ui->yaw);
93  boxes.push_back(_ui->angular_sigma_roll);
94  boxes.push_back(_ui->angular_sigma_pitch);
95  boxes.push_back(_ui->angular_sigma_yaw);
96  for(int i=0; i<boxes.size(); ++i)
97  {
98  double value = boxes[i]->value()*conversion;
99  if(_ui->checkBox_radians->isChecked())
100  {
101  if(boxes[i]!=_ui->angular_sigma_roll && boxes[i]!=_ui->angular_sigma_pitch && boxes[i]!=_ui->angular_sigma_yaw)
102  {
103  boxes[i]->setMinimum(-M_PI);
104  }
105  boxes[i]->setMaximum(M_PI);
106  boxes[i]->setSuffix(" rad");
107  boxes[i]->setSingleStep(0.01);
108  }
109  else
110  {
111  if(boxes[i]!=_ui->angular_sigma_roll && boxes[i]!=_ui->angular_sigma_pitch && boxes[i]!=_ui->angular_sigma_yaw)
112  {
113  boxes[i]->setMinimum(-180);
114  }
115  boxes[i]->setMaximum(180);
116  boxes[i]->setSuffix(" deg");
117  boxes[i]->setSingleStep(1);
118  }
119  boxes[i]->setValue(value);
120  }
121 }
122 
123 Transform EditConstraintDialog::getTransform() const
124 {
125  double conversion = 1.0f;
126  if(!_ui->checkBox_radians->isChecked())
127  {
128  conversion = M_PI/180.0;
129  }
130  return Transform(_ui->x->value(), _ui->y->value(), _ui->z->value(), _ui->roll->value()*conversion, _ui->pitch->value()*conversion, _ui->yaw->value()*conversion);
131 }
132 
133 cv::Mat EditConstraintDialog::getCovariance() const
134 {
135  cv::Mat covariance = cv::Mat::eye(6,6,CV_64FC1);
136  covariance.at<double>(0,0) = _ui->linear_sigma_x->value()==0?9999:_ui->linear_sigma_x->value()*_ui->linear_sigma_x->value();
137  covariance.at<double>(1,1) = _ui->linear_sigma_y->value()==0?9999:_ui->linear_sigma_y->value()*_ui->linear_sigma_y->value();
138  covariance.at<double>(2,2) = _ui->linear_sigma_z->value()==0?9999:_ui->linear_sigma_z->value()*_ui->linear_sigma_z->value();
139  double conversion = 1.0f;
140  if(!_ui->checkBox_radians->isChecked())
141  {
142  conversion = M_PI/180.0;
143  }
144  double sigma = _ui->angular_sigma_roll->value()*conversion;
145  covariance.at<double>(3,3) = sigma==0?9999:sigma*sigma;
146  sigma = _ui->angular_sigma_pitch->value()*conversion;
147  covariance.at<double>(4,4) = sigma==0?9999:sigma*sigma;
148  sigma = _ui->angular_sigma_yaw->value()*conversion;
149  covariance.at<double>(5,5) = sigma==0?9999:sigma*sigma;
150  return covariance;
151 }
152 
153 }
rtabmap::EditConstraintDialog::_ui
Ui_EditConstraintDialog * _ui
Definition: EditConstraintDialog.h:58
glm::yaw
GLM_FUNC_DECL T yaw(detail::tquat< T, P > const &x)
rtabmap::EditConstraintDialog::~EditConstraintDialog
virtual ~EditConstraintDialog()
Definition: EditConstraintDialog.cpp:68
rtabmap::EditConstraintDialog::EditConstraintDialog
EditConstraintDialog(const Transform &constraint, const cv::Mat &covariance=cv::Mat::eye(6, 6, CV_64FC1), QWidget *parent=0)
Definition: EditConstraintDialog.cpp:40
y
Matrix3f y
rtabmap::EditConstraintDialog::setPoseGroupVisible
void setPoseGroupVisible(bool visible)
Definition: EditConstraintDialog.cpp:73
rtabmap::EditConstraintDialog::switchUnits
void switchUnits()
Definition: EditConstraintDialog.cpp:82
rtabmap::Transform::getTranslationAndEulerAngles
void getTranslationAndEulerAngles(float &x, float &y, float &z, float &roll, float &pitch, float &yaw) const
Definition: Transform.cpp:258
glm::sqrt
GLM_FUNC_DECL vecType< T, P > sqrt(vecType< T, P > const &x)
UASSERT
#define UASSERT(condition)
z
z
x
x
rtabmap::EditConstraintDialog::getTransform
Transform getTransform() const
Definition: EditConstraintDialog.cpp:123
glm::pitch
GLM_FUNC_DECL T pitch(detail::tquat< T, P > const &x)
ULogger.h
ULogger class and convenient macros.
rtabmap::Transform
Definition: Transform.h:41
rtabmap::EditConstraintDialog::setCovarianceGroupVisible
void setCovarianceGroupVisible(bool visible)
Definition: EditConstraintDialog.cpp:77
M_PI
#define M_PI
Definition: EditConstraintDialog.cpp:35
rtabmap
Definition: CameraARCore.cpp:35
value
value
i
int i
rtabmap::EditConstraintDialog::getCovariance
cv::Mat getCovariance() const
Definition: EditConstraintDialog.cpp:133
glm::roll
GLM_FUNC_DECL T roll(detail::tquat< T, P > const &x)
EditConstraintDialog.h

rtabmap
Author(s): Mathieu Labbe
autogenerated on Sun Dec 1 2024 03:42:44